CN102845285A - Solar automatic flower watering robot - Google Patents
Solar automatic flower watering robot Download PDFInfo
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- CN102845285A CN102845285A CN2012101860684A CN201210186068A CN102845285A CN 102845285 A CN102845285 A CN 102845285A CN 2012101860684 A CN2012101860684 A CN 2012101860684A CN 201210186068 A CN201210186068 A CN 201210186068A CN 102845285 A CN102845285 A CN 102845285A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention discloses a solar automatic flower watering robot. The solar automatic flower watering robot supplies power for a robot through a solar panel, and a soil moisture detection unit is placed in the soil. When that the soil is need to be watered is detected, an infrared emission device transmits signals to the remote solar automatic flower watering robot. As soon as the solar automatic flower watering robot receives the signals, watering is started immediately, water accurately reaches a flower pot according to a route, and flowers are watered through a water pump. When flowers are watered, the soil moisture detection continues; and when the moisture is detected to reach requirements, the robot stops watering and returns to a start position.
Description
Technical field
The present invention relates to a kind of solar energy automatic flower watering machine people, belong to the robot application field.
Background technology
Along with the fast development of World Economics, also more and more higher to the demand of the energy, and in existing energy resource structure, the human energy that utilizes mainly is oil, natural gas, the fossil energies such as coal.Yet these energy all are non-renewable energy resources.And the resource of these energy also is very limited.In the face of the limited energy with to the unlimited demand of the energy, people begin to seek the novel energy of the alternative current energy.How developing and utilizing novel energy efficiently is an important topic of society.Solar energy is undoubtedly a kind of environmental protection, the green energy, and also it is flood tide, the reproducible energy.
Along with the development of society, the progress of science and technology, the automatic machinery people has come into people's life gradually, has really brought certain impact to people.Along with growth in the living standard, people pursue high-grade life, in order to beautify the environment, purify air, people like planting some flowers and plants at home, plant be unable to do without water, need usually pouring, this is undoubtedly the loaded down with trivial details work of part, especially works as you and goes on business, the water supply of plant will be interrupted, and affects the normal growth of plant.
Summary of the invention
Be busy with one's work or go out a period of time for solving owner, the plant that is placed in the garden will unserviced situation.Having proposed a kind of automatic flower watering machine people take solar energy as energy helps owner to look after plant in the garden.
Solar energy automatic flower watering machine people of the present invention is comprised of single chip circuit, battery protecting circuit, motor-drive circuit, line walking circuit, ultrasound detection circuit, pressure sensor circuit, soil testing circuit, warning circuit and power circuit.The input of power circuit and solar panel battery join, and output joins with single chip circuit power pins, battery protecting circuit, motor-drive circuit, line walking circuit, ultrasound detection circuit, pressure sensor circuit, soil testing circuit, warning circuit respectively.Single chip circuit P2.0, P2.1, P2.2, P2.3 join with the control utmost point of motor-drive circuit respectively, single chip circuit P0.0, P0.1, P0.2, P0.3, P0.4 join with the line walking circuit respectively, single chip circuit P1.0, P1.1 join with the control utmost point of ultrasound detection circuit respectively, single chip circuit P1.7 warning circuit joins.
The soil testing circuit is connected with infrared receiving circuit on the single-chip microcomputer by infrared transmitter, carries out the signal conduction; Water tank and water pump also are housed in the robot, and delivery port is connected with water tank by water pipe.
Solar energy automatic flower watering machine is to place soil humidity detector in soil as principle manually, judges the requirement that whether soil reaches needs feedwater, and signal is transferred to solar energy automatic flower watering machine people.Solar energy automatic flower watering machine people will start after receiving signal at once, seeks and arrives accurately the flowerpot position, utilizes water pump to the flower feedwater.The soil moisture detection is still continuing when watering flowers, as long as reach humidity requirement, robot will stop feedwater, and returns to one's starting point a little.Solar energy automatic flower watering machine people judges the water level of water tank by pressure sensor, crosses when low when water level, reports to the police by warning circuit.
Battery protecting circuit of the present invention is comprised of VZ1, VZ2, VZ3, R1, R2, R3, R4, R5, R6, C1, C2, C3, C4, D1, V1, V2, V3, V4, VT1, VT2, VT3 and LED1-LED3.Wherein Line 1 connects VZ1 negative electrode, VT1 emitter stage, R3, VZ2 negative electrode, VT3 emitter stage, C4, VZ3 negative electrode; No. 3 line connects R1, V1 anode; No. 2 line ground connection, and link V1 negative electrode, LED2 negative electrode, V2 negative electrode, LED1 negative electrode, R5, LED3 anode; No. 4 line connects V3 negative electrode, V4 negative electrode; The series connection of VZ1 anode R1, R2; VZ2 anode series connection R5; The VT1 base stage meets R2, and colelctor electrode meets C2 and R4, and R4 connects the LED1 anode, and C2 connects the V2 control end; The VT2 colelctor electrode meets R3, and base stage meets R2, and emitter stage connects C1, LED2 anode, V2 anode, and C1 connects the V1 control end; R5, R6 and VZ2 anode join; The VT3 base stage connects R6, D1 anode, and colelctor electrode connects C3, V4 anode, and D1 negative electrode, C3, V4 control end link to each other and be connected to the V3 control end.
Motor-drive circuit of the present invention is comprised of R7, R8, D2 ~ D9, LED4 ~ LED7, L298N chip, motor 1, motor 2.D2 ~ D5 negative electrode joins and joins with VCC, and with 2,3,13,14 join its anode respectively; D6 ~ D9 anode joins and joins with ground, and with 2,3,13,14 join its negative electrode respectively; IN1 and single-chip microcomputer P2.3 pin join, and IN2 and single-chip microcomputer P2.2 pin join, and IN3 and single-chip microcomputer P2.1 pin join, and IN4 and single-chip microcomputer P2.0 pin join.
Line walking circuit of the present invention is comprised of R9 ~ R23, C5 ~ C9, LED8 ~ LED12, infrared emission receiving tube U4 ~ U8, integrated operational amplifier U9 and U10.3,5 of 3,5,10 and the U10 of U9 joins and connects reference voltage; The light emitting diode of R9 and U4 joins; R10, C5 one end join with the emitter stage of the phototriode of U4 respectively, other end ground connection, and the emitter stage of the phototriode of U4 is received 2 ends of U9A; R11 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 1 end of U9A; The light emitting diode of R12 and U5 joins; R13, C6 one end join with the emitter stage of the phototriode of U5 respectively, other end ground connection, and the emitter stage of the phototriode of U5 is received 6 ends of U9B; R14 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 7 ends of U9B; The light emitting diode of R15 and U6 joins; R16, C7 one end join with the emitter stage of the phototriode of U6 respectively, other end ground connection, and the emitter stage of the phototriode of U6 is received 8 ends of U9C; R17 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 8 ends of U9C; The light emitting diode of R18 and U7 joins; R19, C8 one end join with the emitter stage of the phototriode of U7 respectively, other end ground connection, and the emitter stage of the phototriode of U7 is received 2 ends of U10A; R20 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 1 end of U10A; The light emitting diode of R21 and U8 joins; R22, C9 one end join with the emitter stage of the phototriode of U8 respectively, other end ground connection, and the emitter stage of the phototriode of U8 is received 6 ends of U10B; R23 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 7 ends of U10B; P00 ~ P04 is linked to respectively 1 end of U9A, 7 ends of U9B, 8 ends of U9C, 1 end of U10A, 7 ends of U10B.
Soil testing circuit of the present invention, circuit is made of R24 ~ R32, VZ4, VZ5, U11, D10, D11, VT4 and VT5.The colelctor electrode of Line 1 and VZ4 anode, resistance R 24, R29, VT5 joins; No. 2 lines and VZ5 negative electrode, R25 adjust end, resistance R 25, R26, R31, R32 and join, and ground connection; The negative electrode of VZ4 and VZ5 anode join; Probe one end and 1 joins, and the other end and R25 join and join with the base stage of VT4; Resistance R 26 1 ends and VT4 emitter stage join, and the other end and VT4 emitter stage join; Resistance R 27 and R28 one end join and join with the VT4 emitter stage, 2 ends of resistance R 27 other ends and U11 join, 6 ends of resistance R 28 other ends and U11 join, resistance R 29 1 ends and 1 line join, 3 ends of the other end and U11 join, and resistance R 31 1 ends and 2 lines join, and 5 ends of the other end and U11 join, 3 ends of resistance R 30 1 ends and U11 join, and 5 ends of the other end and U11 join.The anode of D10 and D11 is received respectively 1 and 7 of U11, and its negative electrode joins and receives the base stage of VT5; VT5 emitter stage and OUT and R32 join.
Ultrasonic transmit circuit of the present invention is by resistance R 33 ~ R35, triode Q1 ~ Q3, diode VD, and capacitor C 10, ultrasonic transmitting tube consist of.One end of resistance R 33 and single-chip microcomputer P1.0 pin join, the other end then joins with transistor base, Q1 colelctor electrode and capacitor C 10, resistance R 34, R35, ultrasonic transmitting tube join, the positive pole of Q1 emitter stage and the electric capacity other end, Q2 emitter stage, Q3 emitter stage, diode VD joins, Q2 base stage and resistance R 35 are joined, and Q3 base stage and diode VD negative terminal join.
Ultrasonic receiving circuit of the present invention is comprised of operational amplifier TL082, comparator LM393, resistance R 36 ~ R44, capacitor C 11 ~ C16.Ultrasonic receiving tube one termination capacitor C11,3,5 pins of other end connecting resistance R36, R40, amplifier TL082.Resistance R 37 1 termination capacitor C11,2 pin of another termination amplifier TL082.2 pin of resistance R 38 1 termination amplifier TL082, another termination 1 pin.Resistance R 39 1 terminations 1 pin, another termination capacitor C 12, C13, resistance R 40.6 pin of resistance R 41 1 termination amplifier TL082, another termination 7 pin.7 pin of capacitor C 15 1 termination amplifier TL082,2 pin of another termination LM393.3 pin connecting resistance R42, the R43 of LM393, capacitor C 14.
Pressure sensor circuit of the present invention is comprised of silicon pressure sensor, integrated transporting discharging LM358 resistance R 45-R57 and capacitor C 17, C18.1 pin and 2 pin of pressure sensor connect respectively VDD-to-VSS, 3 pin connect 2 pin of Rp45,1 pin of Rp45 connects power supply, 3 pin ground connection, the two ends of capacitor C 17 connect respectively VDD-to-VSS, and R50 and Rp51 are serially connected with between power supply and the ground, slip pin 2 connects the end of R52,2 pin of another termination LM358 of R52,4 of pressure sensor is connected to the end of R53, and the other end is connected to 3 pin of LM358, the two ends of R54 meet respectively 1 of LM358,2 pin, 8 pin connect power supply, 4 pin ground connection, and the two ends of R55 meet respectively 1 of LM358,5 pin, the two ends of R57 meet respectively 6 of LM358,7 pin, R56 one end ground connection, 6 pin of another termination LM358, and exported by 7 pin.
Infrared transmitting circuit of the present invention is comprised of resistance R 58, LED 13, NMOSQ6.One end and the power supply of resistance R 58 join, and the other end then joins with the positive pole of infrared transmitting tube LED13, and the negative pole of LED connects the drain electrode of MOS driving tube, and the control utmost point of metal-oxide-semiconductor is by the output signal control of soil testing circuit, the source ground of metal-oxide-semiconductor.
Infrared receiving circuit of the present invention is made of resistance R 59, R60, triode Q5, an infrared receiving tube LED14.The end of R59, R60 all links to each other with power supply, and the R59 other end and LED14 join and join with the Q5 base stage, and the R60 other end and Q5 colelctor electrode join and receive single-chip microcomputer P1.6 pin, Q5 emission collection ground connection.
Warning circuit of the present invention is by buzzer, triode Q6, and resistance R 61 consists of.Buzzer one end and power supply join, and the emitter stage of the other end and triode joins, and transistor base joins with single-chip microcomputer P1.7 by resistance R 61, and transistor emitter joins with ground.
Description of drawings
Fig. 1 is theory diagram of the present invention.
Fig. 2 is end view of the present invention (1: line walking sensor 2: ultrasonic sensor 3: infrared receiving sensor 4: delivery port 5: solar panel 6: support column 7: battery 8: holding circuit 9: SCM system 10: water tank 11: water pump 12: water pipe 13: pressure sensor 14: motor-driven 15: wheel; ).
Fig. 3 is secondary battery protection circuit figure of the present invention.
Fig. 4 is motor-drive circuit figure of the present invention.
Fig. 5 is line walking circuit diagram of the present invention.
Fig. 6 is soil testing circuit figure of the present invention.
Fig. 7 is ultrasonic transmit circuit figure of the present invention.
Fig. 8 is ultrasonic receiving circuit figure of the present invention.
Fig. 9 is pressure sensor circuit figure of the present invention.
Figure 10 is infrared transmitting circuit figure of the present invention.
Figure 11 is infrared receiving circuit figure of the present invention.
Figure 12 is warning circuit figure of the present invention.
Embodiment
Solar energy automatic flower watering machine is to place soil humidity detector in soil as principle manually, judge whether and to spray water on flowers by soil humidity detector, requirement when detecting soil and reach feedwater passes to solar energy automatic flower watering machine people by infrared transmitting tube with signal.After solar energy automatic flower watering machine people receives signal, start at once.Judge route by the line walking sensor at the bottom of the car, accurately search out the position of flowerpot, utilize ultrasonic sensor to judge whether near the flowerpot position.Give the flower feedwater by water pump, soil moisture detection this moment is judged the requirement that whether reaches of soil moisture still continuing, and will stop feedwater as long as reach the requirement robot.And turn back to the position of setting out, wait for task next time.Pressure sensor is installed below water tank, judges the water level of water tank, cross when low when water level, report to the police by warning circuit.
Fig. 3 is secondary battery protection circuit figure of the present invention, adopts the charging of solar panels battery, realizes preventing that accumulator super-charge from crossing the function of putting.When battery tension reached the 13.5V left and right sides, VZ2 punctured conducting, and B point current potential is for just, and VT3 oppositely ends, the VD1 conducting, and trigger the V4 conducting.C3 lotus that the utmost point charges is added on the V3 negative electrode through V4, makes that V3 is instantaneous to be added backward voltage and end, and turn-offs the charging potential source.While charging indicator light LED3 stops luminous, and the normal indicator lamp LED2 of voltage is normally luminous.When cell voltage is less than or equal to 13V, the VZ2 cut-off, the VT3 forward conduction, electric current triggers the V3 conducting through C3, and charge circuit is communicated with again, and C3 also is recharged simultaneously.
Fig. 4 is motor-drive circuit figure of the present invention, and IN1 ~ IN4 is the control inputs signal port among the figure, connects low level when input signal end IN1 meets high level input IN2, motor M 1 forward, and signal end IN1 connects low level, and IN2 connects high level, motor M 1 counter-rotating.When meeting high level input IN4, input signal end IN3 connects low level, motor M 2 forwards, and signal end IN3 connects low level, and IN4 connects high level, motor M 2 counter-rotatings.
Fig. 5 is line walking circuit diagram of the present invention, according to infrared rays by the absorption difference principle design of different colours.When infrared transmitting tube and receiving tube were in black line, the infrared light major part of sending was by black absorption, and namely the areflexia light time, the positive input voltage of its comparator is lower than the voltage of reverse input end, and output low level, and LED lights.When infrared transmitting tube and receiving tube were in the black position, the infrared light major part of sending was reflected, and received pipe receives, and the positive input voltage of its comparator is higher than the voltage of reverse input end, and the output high level, and LED does not work.This circuit has 5 tunnel red emissions and receiving tube, middle one the tunnel mainly is to guarantee that robot can advance along route, inferior outer 2 the tunnel mainly is to be can realize correcting when robot departs from route, thus assurance get back on the route, outermost 2 tunnel mainly is that the assurance robot can be implemented in the crossing according to route and turns to.
Fig. 6 is soil testing circuit figure of the present invention, and its principle is that different conductive capability is different designs according to the humidity of soil, and regulating resistance R25 or probe spacing can change measurement sensitivity, realize the detection of soil moisture.The magnitude of voltage (Va) that definite needs water (VL) and a is ordered during water full (VH).According to voltage design window comparator circuit, thereby realize when Va＜VL, exporting high level; Output low level when VL＜Va＜VH; Output high level when VH＜Va.
Fig. 7 is ultrasonic transmit circuit figure of the present invention, whether the P1.0 mouth of single-chip microcomputer is controlled it and is worked, transistor Q2, Q3 form strong reaction type resonator oscillator, the minor variations of Q2 colelctor electrode output voltage, feed back to the base stage of Q3 by the ultrasonic transmitting probe, do further amplification through the base stage that is added to again Q2 after the Q3 amplification, form circuit oscillation through repeatedly circulating.Probe feeds back to the output of Q2 on the base stage of Q3, the frequency of oscillation of oscillator can be stabilized on the intrinsic frequency of self simultaneously, uses as the frequency stabilization element.Ultrasonic transmitting probe two ends are the square wave of 40kHz, promote the ultrasonic that ultrasonic probe produces 40kHz.
Fig. 8 is ultrasonic receiving circuit figure of the present invention, and circuit comprises low-pass filter circuit, amplifying circuit, comparator shaping circuit.At first capacitor C 11 is filtered the residual DC voltage that may exist, and then amplifying circuit amplifies the Weak Ultrasonic echo-signal, removes at last other interfering signal by bandwidth-limited circuit, and filtering and amplifying circuit has adopted high speed and precision operational amplifier TL082.Adopt at last a comparator shaping circuit.
Fig. 9 is pressure sensor circuit figure of the present invention, circuit is converted to pressure the signal of telecommunication and amplifies shaping by silicon pressure sensor, because signal is faint, so the 7 pin output of LM358 is arranged after the two poles of the earth voltage amplification via the LM358 formation, change Rp45 and can regulate reference voltage, make circuit when sensor is not stressed, be output as 0, R52 and R55 are feedback resistance, capacitor C 17, C18 is filter capacitor, does the time spent when pressure sensor is under pressure, the electric bridge disequilibrium, 3 voltage and 4 are unequal, because 3 point voltages are fixed by Rp45, so voltage difference will by 4 outputs, be exported pressure signal after the linear amplification of LM358.
Figure 10 is infrared transmitting circuit figure of the present invention, promotes metal-oxide-semiconductor conducting LED13 emission infrared rays when P1.2 is high level.
Figure 11 is infrared receiving circuit figure of the present invention, figure is infrared receiving circuit, when LED14 does not receive infrared signal, show as high-impedance state, triode Q5 cut-off, P1.6 exports high level, and the LED14 conducting provides base current to triode when infrared receiver is arranged, cause triode Q5 saturation conduction, the P1.6 output low level.
Figure 12 is warning circuit figure of the present invention, single-chip microcomputer P1.7 output low level, and buzzer is sounded.Single-chip microcomputer P1.7 exports high level, and buzzer is not sounded.Cross when low when cistern water level, single-chip microcomputer P1.7 sends high-low level, and buzzer just sends chimes of doom.
Robot of the present invention automatic flower watering flow process is, after starting soil humidity detector, humidity detector is detecting the humidity of soil always, soil humidity detector sends signal by infrared transmitting tube when the humidity of soil reaches requiring of feedwater, is enabled in solar energy automatic flower watering machine people at a distance.Solar energy automatic flower watering machine people marches forward by the line walking sensor, and when detecting flowerpot according to the ultrasonic sensor in robot the place ahead, solar energy automatic flower watering machine people just halts, and waters to flowerpot by water pump.In the process of watering flowers, soil humidity detector is detecting the humidity of soil always, and when soil moisture arrival required, solar energy automatic flower watering machine people stopped to water to flowerpot, and turns back to homeposition.
Claims (6)
1. solar energy automatic flower watering machine people; formed by single chip circuit, battery protecting circuit, motor-drive circuit, line walking circuit, ultrasound detection circuit, pressure sensor circuit, soil testing circuit, warning circuit and power circuit; it is characterized in that; water tank and water pump also are housed in the described robot, and delivery port is connected with water tank by water pipe.
2. described robot according to claim 1, it is characterized in that, the input of power circuit and solar panel battery join, and output joins with single chip circuit power pins, battery protecting circuit, motor-drive circuit, line walking circuit, ultrasound detection circuit, pressure sensor circuit, soil testing circuit, warning circuit respectively; The control utmost point of single chip circuit P2.0, P2.1, P2.2, P2.3 and motor-drive circuit joins, single chip circuit P0.0, P0.1, P0.2, P0.3, P0.4 and line walking circuit join, the control utmost point of single chip circuit P1.0, P1.1 and ultrasound detection circuit joins, and single chip circuit P1.7 and warning circuit join.
3. described robot according to claim 1, it is characterized in that, in soil, place the soil testing circuit, judge whether and to spray water on flowers by soil moisture is detected, when the requirement that detects soil and reach feedwater, by infrared transmitting tube signal is passed to solar energy automatic flower watering machine people, after solar energy automatic flower watering machine people receives signal, by the line walking circuit judges route at the bottom of the car, accurately search out the position of flowerpot, utilize ultrasound detection circuit to judge whether near the flowerpot position, give the flower feedwater by water pump, soil moisture detected still and continued this moment, judge the requirement that whether reaches of soil moisture, will stop feedwater as long as reach the requirement robot, and turn back to the position of setting out, wait for task next time, pressure sensor is installed below water tank, judge the water level of water tank, cross when low when water level, report to the police by warning circuit.
4. described robot according to claim 1 is characterized in that motor-drive circuit is comprised of R7, R8, D2 ~ D9, LED4 ~ LED7, L298N chip, motor 1 and motor 2; D2 ~ D5 negative electrode joins and joins with VCC, and with 2,3,13,14 join its anode respectively; D6 ~ D9 anode joins and joins with ground, and with 2,3,13,14 join its negative electrode respectively; IN1 and single-chip microcomputer P2.3 pin join, and IN2 and single-chip microcomputer P2.2 pin join, and IN3 and single-chip microcomputer P2.1 pin join, and IN4 and single-chip microcomputer P2.0 pin join.
5. described robot according to claim 1 is characterized in that described line walking circuit is comprised of R9 ~ R23, C5 ~ C9, LED8 ~ LED12, infrared emission receiving tube U4 ~ U8, integrated operational amplifier U9 and U10; 3,5 of 3,5,10 and the U10 of U9 joins and connects reference voltage; The light emitting diode of R9 and U4 joins; R10, C5 one end join with the emitter stage of the phototriode of U4 respectively, other end ground connection, and the emitter stage of the phototriode of U4 is received 2 ends of U9A; R11 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 1 end of U9A; The light emitting diode of R12 and U5 joins; R13, C6 one end join with the emitter stage of the phototriode of U5 respectively, other end ground connection, and the emitter stage of the phototriode of U5 is received 6 ends of U9B; R14 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 7 ends of U9B; The light emitting diode of R15 and U6 joins; R16, C7 one end join with the emitter stage of the phototriode of U6 respectively, other end ground connection, and the emitter stage of the phototriode of U6 is received 8 ends of U9C; R17 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 8 ends of U9C; The light emitting diode of R18 and U7 joins; R19, C8 one end join with the emitter stage of the phototriode of U7 respectively, other end ground connection, and the emitter stage of the phototriode of U7 is received 2 ends of U10A; R20 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 1 end of U10A; The light emitting diode of R21 and U8 joins; R22, C9 one end join with the emitter stage of the phototriode of U8 respectively, other end ground connection, and the emitter stage of the phototriode of U8 is received 6 ends of U10B; R23 one end joins with+5V power supply, and the other end and light emitting diode join, and receive 7 ends of U10B; P00 ~ P04 is linked to respectively 1 end of U9A, 7 ends of U9B, 8 ends of U9C, 1 end of U10A, 7 ends of U10B.
6. described robot according to claim 1 is characterized in that, the soil testing circuit is made of R24 ~ R32, VZ4, VZ5, U11, D10, D11, VT4 and VT5.The colelctor electrode of Line 1 and VZ4 anode, resistance R 24, R29, VT5 joins; No. 2 lines and VZ5 negative electrode, R25 adjust end, resistance R 25, R26, R31, R32 and join, and ground connection; The negative electrode of VZ4 and VZ5 anode join; Probe one end and 1 joins, and the other end and R25 join and join with the base stage of VT4; Resistance R 26 1 ends and VT4 emitter stage join, and the other end and VT4 emitter stage join; Resistance R 27 and R28 one end join and join with the VT4 emitter stage, 2 ends of resistance R 27 other ends and U11 join, 6 ends of resistance R 28 other ends and U11 join, resistance R 29 1 ends and 1 line join, 3 ends of the other end and U11 join, and resistance R 31 1 ends and 2 lines join, and 5 ends of the other end and U11 join, 3 ends of resistance R 30 1 ends and U11 join, and 5 ends of the other end and U11 join; The anode of D10 and D11 is received respectively 1 and 7 of U11, and its negative electrode joins and receives the base stage of VT5; VT5 emitter stage and OUT and R32 join.
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| CN2012101860684A CN102845285A (en) | 2012-06-07 | 2012-06-07 | Solar automatic flower watering robot |
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| CN2012101860684A CN102845285A (en) | 2012-06-07 | 2012-06-07 | Solar automatic flower watering robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103283570A (en) * | 2013-05-13 | 2013-09-11 | 安徽工程大学 | Automatic watering flowerpot |
| WO2017092620A1 (en) * | 2015-12-01 | 2017-06-08 | 纳恩博（北京）科技有限公司 | Smart device, smart control method thereof and computer storage medium |
| CN106912357A (en) * | 2015-12-25 | 2017-07-04 | 北京奇虎科技有限公司 | Intelligent irrigation robot and irrigation method |
| US9804604B2 (en) | 2013-08-16 | 2017-10-31 | Husqvarna Ab | Intelligent grounds management system integrating robotic rover |
| CN109637095A (en) * | 2018-12-28 | 2019-04-16 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | A kind of water level detecting alarm control circuit |
| CN109673486A (en) * | 2018-08-17 | 2019-04-26 | 安徽信息工程学院 | Based on Arduino Intelligent Single-Chip Based watering control circuit |
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| CN103283570A (en) * | 2013-05-13 | 2013-09-11 | 安徽工程大学 | Automatic watering flowerpot |
| US9804604B2 (en) | 2013-08-16 | 2017-10-31 | Husqvarna Ab | Intelligent grounds management system integrating robotic rover |
| WO2017092620A1 (en) * | 2015-12-01 | 2017-06-08 | 纳恩博（北京）科技有限公司 | Smart device, smart control method thereof and computer storage medium |
| CN106912357A (en) * | 2015-12-25 | 2017-07-04 | 北京奇虎科技有限公司 | Intelligent irrigation robot and irrigation method |
| CN109673486A (en) * | 2018-08-17 | 2019-04-26 | 安徽信息工程学院 | Based on Arduino Intelligent Single-Chip Based watering control circuit |
| CN109637095A (en) * | 2018-12-28 | 2019-04-16 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | A kind of water level detecting alarm control circuit |
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Application publication date: 20130102 |